bellande_step
This commit is contained in:
parent
af80c86719
commit
ff15a1e93e
@ -1,4 +1,20 @@
|
|||||||
{
|
{
|
||||||
|
"license": [
|
||||||
|
"Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande",
|
||||||
|
"This program is free software: you can redistribute it and/or modify",
|
||||||
|
"it under the terms of the GNU General Public License as published by",
|
||||||
|
"the Free Software Foundation, either version 3 of the License, or",
|
||||||
|
"(at your option) any later version.",
|
||||||
|
"",
|
||||||
|
"This program is distributed in the hope that it will be useful,",
|
||||||
|
"but WITHOUT ANY WARRANTY; without even the implied warranty of",
|
||||||
|
"MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the",
|
||||||
|
"GNU General Public License for more details.",
|
||||||
|
"",
|
||||||
|
"You should have received a copy of the GNU General Public License",
|
||||||
|
"along with this program. If not, see <https://www.gnu.org/licenses/>.",
|
||||||
|
"GNU General Public License v3.0 or later"
|
||||||
|
],
|
||||||
"url": "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run",
|
"url": "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run",
|
||||||
"endpoint_path": {
|
"endpoint_path": {
|
||||||
"2d": "/api/Bellande_Step/bellande_step_2d",
|
"2d": "/api/Bellande_Step/bellande_step_2d",
|
||||||
|
@ -1,3 +1,18 @@
|
|||||||
|
# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||||
|
#
|
||||||
|
# This program is free software: you can redistribute it and/or modify
|
||||||
|
# it under the terms of the GNU General Public License as published by
|
||||||
|
# the Free Software Foundation, either version 3 of the License, or
|
||||||
|
# (at your option) any later version.
|
||||||
|
#
|
||||||
|
# This program is distributed in the hope that it will be useful,
|
||||||
|
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
# GNU General Public License for more details.
|
||||||
|
#
|
||||||
|
# You should have received a copy of the GNU General Public License
|
||||||
|
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||||
|
|
||||||
import os
|
import os
|
||||||
import sys
|
import sys
|
||||||
import subprocess
|
import subprocess
|
||||||
|
@ -1,55 +1,101 @@
|
|||||||
|
# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||||
|
#
|
||||||
|
# This program is free software: you can redistribute it and/or modify
|
||||||
|
# it under the terms of the GNU General Public License as published by
|
||||||
|
# the Free Software Foundation, either version 3 of the License, or
|
||||||
|
# (at your option) any later version.
|
||||||
|
#
|
||||||
|
# This program is distributed in the hope that it will be useful,
|
||||||
|
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
# GNU General Public License for more details.
|
||||||
|
#
|
||||||
|
# You should have received a copy of the GNU General Public License
|
||||||
|
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||||
|
|
||||||
import json
|
import json
|
||||||
import os
|
import os
|
||||||
import requests
|
import requests
|
||||||
|
from std_msgs.msg import String
|
||||||
|
|
||||||
def main():
|
def get_next_step(x1, y1, x2, y2, limit):
|
||||||
# Get the absolute path to the config file
|
payload = {
|
||||||
config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
|
"node0": {"x": x1, "y": y1},
|
||||||
|
"node1": {"x": x2, "y": y2}
|
||||||
|
}
|
||||||
|
|
||||||
# Check if the config file exists
|
headers = {
|
||||||
if not os.path.exists(config_file_path):
|
'accept': 'application/json',
|
||||||
print("Config file not found:", config_file_path)
|
'Content-Type': 'application/json',
|
||||||
return
|
"Authorization": f"Bearer {api_access_key}"
|
||||||
|
}
|
||||||
|
|
||||||
# Read configuration from config.json
|
try:
|
||||||
with open(config_file_path, 'r') as config_file:
|
response = requests.post(
|
||||||
config = json.load(config_file)
|
f"{api_url}?limit={limit}",
|
||||||
url = config['url']
|
json=payload,
|
||||||
endpoint_path = config['endpoint_path']["2d"]
|
headers=headers
|
||||||
|
)
|
||||||
# Get the parameters from the ROS parameter server
|
response.raise_for_status()
|
||||||
|
data = response.json()
|
||||||
|
return String(f"Next Step: {data['next_step']}")
|
||||||
|
except requests.exceptions.RequestException as e:
|
||||||
|
print(f"Error: {e}")
|
||||||
|
return None
|
||||||
|
|
||||||
|
def parameter_callback(event):
|
||||||
x1 = rospy.get_param('x1', 0)
|
x1 = rospy.get_param('x1', 0)
|
||||||
y1 = rospy.get_param('y1', 0)
|
y1 = rospy.get_param('y1', 0)
|
||||||
x2 = rospy.get_param('x2', 0)
|
x2 = rospy.get_param('x2', 0)
|
||||||
y2 = rospy.get_param('y2', 0)
|
y2 = rospy.get_param('y2', 0)
|
||||||
limit = rospy.get_param('limit', 3)
|
limit = rospy.get_param('limit', 3)
|
||||||
|
|
||||||
# JSON payload
|
next_step = get_next_step(x1, y1, x2, y2, limit)
|
||||||
payload = {
|
if next_step:
|
||||||
"node0": {"x": x1, "y": y1},
|
pub.publish(next_step)
|
||||||
"node1": {"x": x2, "y": y2}
|
|
||||||
}
|
|
||||||
|
|
||||||
# Headers
|
def main():
|
||||||
headers = {
|
global api_url, api_access_key, pub
|
||||||
'accept': 'application/json',
|
|
||||||
'Content-Type': 'application/json'
|
|
||||||
}
|
|
||||||
|
|
||||||
|
config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
|
||||||
# Make POST request
|
|
||||||
try:
|
|
||||||
response = requests.post(
|
|
||||||
url + endpoint_path + '?limit=' + str(limit),
|
|
||||||
json=payload,
|
|
||||||
headers=headers
|
|
||||||
)
|
|
||||||
response.raise_for_status() # Raise an error for unsuccessful responses
|
|
||||||
data = response.json()
|
|
||||||
print("Next Step:", data['next_step'])
|
|
||||||
|
|
||||||
except requests.exceptions.RequestException as e:
|
if not os.path.exists(config_file_path):
|
||||||
print("Error:", e)
|
print("Config file not found:", config_file_path)
|
||||||
|
return
|
||||||
|
|
||||||
|
with open(config_file_path, 'r') as config_file:
|
||||||
|
config = json.load(config_file)
|
||||||
|
url = config['url']
|
||||||
|
endpoint_path = config['endpoint_path']["2d"]
|
||||||
|
api_access_key = config["Bellande_Framework_Access_Key"]
|
||||||
|
|
||||||
|
# Initialize ROS node
|
||||||
|
if ros_version == "1":
|
||||||
|
rospy.init_node('next_step_node', anonymous=True)
|
||||||
|
pub = rospy.Publisher('next_step_result', String, queue_size=10)
|
||||||
|
rospy.Timer(rospy.Duration(1), parameter_callback) # Check parameters every second
|
||||||
|
elif ros_version == "2":
|
||||||
|
rclpy.init()
|
||||||
|
node = rclpy.create_node('next_step_node')
|
||||||
|
pub = node.create_publisher(String, 'next_step_result', 10)
|
||||||
|
node.create_timer(1.0, parameter_callback) # Check parameters every second
|
||||||
|
|
||||||
|
api_url = f"{url}{endpoint_path}"
|
||||||
|
|
||||||
|
try:
|
||||||
|
print("Next step node is running. Ctrl+C to exit.")
|
||||||
|
if ros_version == "1":
|
||||||
|
rospy.spin()
|
||||||
|
elif ros_version == "2":
|
||||||
|
rclpy.spin(node)
|
||||||
|
except KeyboardInterrupt:
|
||||||
|
print("Shutting down next step node.")
|
||||||
|
except Exception as e:
|
||||||
|
print(f"An error occurred: {str(e)}")
|
||||||
|
finally:
|
||||||
|
if ros_version == "2":
|
||||||
|
node.destroy_node()
|
||||||
|
rclpy.shutdown()
|
||||||
|
|
||||||
if __name__ == '__main__':
|
if __name__ == '__main__':
|
||||||
ros_version = os.getenv("ROS_VERSION")
|
ros_version = os.getenv("ROS_VERSION")
|
||||||
@ -57,5 +103,4 @@ if __name__ == '__main__':
|
|||||||
import rospy
|
import rospy
|
||||||
elif ros_version == "2":
|
elif ros_version == "2":
|
||||||
import rclpy
|
import rclpy
|
||||||
|
|
||||||
main()
|
main()
|
||||||
|
Loading…
Reference in New Issue
Block a user